US11312016B2 - Method and system for controlling a robot arrangement - Google Patents

Method and system for controlling a robot arrangement Download PDF

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Publication number
US11312016B2
US11312016B2 US15/758,756 US201615758756A US11312016B2 US 11312016 B2 US11312016 B2 US 11312016B2 US 201615758756 A US201615758756 A US 201615758756A US 11312016 B2 US11312016 B2 US 11312016B2
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robot
robot assembly
process parameters
safety monitoring
rule
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US20200238521A1 (en
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Yevgen Kogan
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KUKA Deutschland GmbH
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KUKA Deutschland GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40582—Force sensor in robot fixture, base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50193—Safety in general

Definitions

  • the present invention relates to a method for controlling a robot assembly comprising at least one robot as well as a system and a computer program product for carrying out the method.
  • the document EP 2 158 064 B1 discloses a method for the automated adaptation of a process parameter of a robot.
  • the various working zones of the robot are provided with different speed monitoring functions, which are activated in a manner allowing an alternative, depending on the pose of the robot.
  • a controller automatically adjusts the speed of the robot to the speed monitoring function that is activated in each case.
  • the controller sets the speed of the robot to “stop” in the region of a shutter gate, as long as the shutter gate is open and in any other case to “slow”.
  • the controller sets the speed of the robot to “stop”, as long as a person is present and in any other case to “slow”.
  • the controller sets the speed of the robot to “slow”, as long as the robot is located in a boundary region and in any other case to “high”.
  • a speed monitoring function, a tool monitoring function and an operator protection monitoring function are activated such that they are linked in parallel. Only in the event that both the speed monitoring function is violated due to exceeding a speed limit value and also the tool monitoring function is violated due to an activated laser tool as well as the operator protection monitoring function is violated due to a door of a protective room being opened, is a STOP 1 triggered.
  • One object of the present invention is to improve the control of a robot assembly.
  • a method for controlling a robot assembly comprising at least one robot comprises the step of:
  • a system for controlling a or the robot assembly comprising at least one robot is configured, in particular, by means of hardware and/or software, in particular, by programming, for carrying out a method described herein; and/or said system comprises:
  • the robot assembly comprises one or more robots with a plurality, in particular, at least three, in particular, at least six, in particular, at least seven, (motion) axes, in particular, axes of rotation, which can be actuated or, in particular, are actuated by an electric motor.
  • At least one process parameter of the prescribed set of process parameters depends on (at least) one driving force of the robot assembly and/or a force, exerted by the robot assembly; said process parameter may, in particular, specify or describe this force.
  • At least one process parameter of the prescribed set of process parameters may depend in one embodiment on a pose of the robot assembly and/or a time derivative of the pose, in particular, may specify or describe them, in particular, may depend on or may specify or describe a position and/or an orientation of one or more robot fixed or robot assembly fixed references, in particular, one or more TCPs, one or more joint coordinates, in particular, joint angles, of the robot or the robot assembly, and/or a respective speed and/or acceleration and/or higher time derivative.
  • a process parameter may be, in particular, one dimensional or a scalar or multidimensional, in particular, a vector.
  • the application may comprise a, in particular, prescribed and/or stored, control program of the or for the robot assembly, in particular, may be or might be defined or preset, in particular, by said control program.
  • the control program specifies the (desired) movements of the robot(s) of the robot assembly and/or actions of, in particular, robot-guided, tools of the robot assembly.
  • the, in particular, automated processing of the control program is referred to herein as the execution of the application.
  • a safety monitoring function comprises a, in particular, parameterizable, monitoring of (at least) one force, acting externally on the robot assembly, of (at least) one driving force of the robot assembly; of a pose of the robot assembly and/or of at least one time derivative thereof, in particular, as to whether the, in particular, parameterizable limits are exceeded and/or undershot.
  • the robot assembly is monitored by means of the parallel activated safety monitoring functions in that (each) of the safety monitoring functions monitors one or more actual process parameters of the robot assembly, in particular, one or more actual process parameters, which match or correspond to the (desired) process parameters of the prescribed set of process parameters or which depend on the same variable(s), in particular, describe or preset the same variable(s), in particular, the aforementioned force, pose and/or time derivative.
  • a violation of a safety monitoring function is or will be avoided or avoidable in accordance with the present invention, in particular, by adapting the process parameters, provided that or in that the process parameters are or will be adapted, in particular, are or will be specified, in particular, if required, and/or within preset limits, in such a way that a violation of the safety monitoring function, in particular, the amount, by which the limit values or the like are exceeded, is or will be minimized, in particular, does not occur.
  • a safety monitoring function may be violated, even in the case of (adapted) process parameters, for example, due to external events, the terms “avoidable/avoid/avoiding” are to be construed within the context of the present invention to mean, in particular, “avoidable/avoid/avoiding as far as possible.”
  • an externally forced movement of the robot assembly into a forbidden pose may give rise to a violation of a pose safety monitoring function.
  • this violation of the pose safety monitoring function is or will be avoidable or avoided within the context of the present invention, provided that or in that in any case a permissible pose is or will be specified as the desired pose of the robot assembly.
  • a violation of a pose safety monitoring function may be avoidable or may be avoided, in particular, by means of a process parameter or the adaptation thereof, said process parameter being dependent on the pose of the robot assembly, in particular, specifying or presetting said pose.
  • an adaptation in the form of a restriction of permissible or, more specifically, assumable poses may avoid a violation of a pose safety monitoring function or a space safety monitoring function within the context of the present invention.
  • a violation of a speed or acceleration safety monitoring function may or might be avoidable or avoided, in particular, by means of a process parameter or the adaptation thereof, said process parameter being dependent on the speed or acceleration of the robot assembly, in particular, specifying or presetting said speed or acceleration.
  • an adaptation in the form of a restriction of permissible speeds or accelerations or a reduction in the speeds or accelerations may avoid a violation of a speed or acceleration safety monitoring function within the context of the present invention.
  • a violation of a force safety monitoring function may or might be avoidable or avoided, in particular, by means of a process parameter or the adaptation thereof, said process parameter being dependent on a driving force of the robot assembly, in particular, specifying or presetting said driving force.
  • an adaptation in the form of a restriction of permissible driving forces may avoid a violation to a force safety monitoring function within the context of the present invention.
  • the prescribed set of process parameters by means of which in a further development a violation of at least one of the safety monitoring functions is avoidable or may be avoided, is or will be optionally modified or modifiable, in particular, parameterized or parameterizable and/or expanded or expandable by one or more process parameters.
  • the set of process parameters is or will be specified in such a way that by means of these process parameters or the adaptation thereof a violation of one or more of the parallel activated safety monitoring functions is avoidable or is avoided or can be avoided.
  • the prescribed set of process parameters in one embodiment may comprise one or more process parameters, by means of which or the adaptation thereof a violation of one of the parallel activated safety monitoring functions is avoidable or is avoided or can be avoided, and one or more other process parameters, by means of which or the adaptation thereof a violation of another of the parallel activated safety monitoring functions is avoidable or is avoided or can be avoided.
  • At least one safety monitoring function monitors an actual process parameter of the robot assembly. Then in one embodiment a violation of this safety monitoring function may be avoidable or may be avoided, in particular, by adapting a (desired) process parameter, which matches or corresponds to this actual process parameter and which belongs to the prescribed set of process parameters, said (desired) process parameter being dependent on the same variable(s) of the robot assembly or specifying or presetting said variables.
  • one or more process parameters of the prescribed set of process parameters by means of which in a further development a violation of at least one of the safety monitoring functions is avoidable or is avoided or can be avoided, is or are the desired process parameter(s).
  • the prescribed set of process parameters may comprise a desired process parameter for specifying a pose, speed and/or acceleration of the robot assembly and/or a desired process parameter for presetting a driving force of the robot assembly and/or a desired process parameter for presetting a force exerted by the robot assembly.
  • one or more selection rules of the control arrangement assign (in each case) one of the safety monitoring functions, in particular, bijectively or uniquely, to one of the process parameters from the prescribed set of process parameters as a selectable subset, which consequently may also consist of an object or a process parameter (in each case), in particular, a desired process parameter, which matches or corresponds to an actual process parameter that is monitored by the safety monitoring functions.
  • a selection rule to assign a pose or space safety monitoring function to a process parameter as a selectable subset, said process parameter being dependent on the pose of the robot assembly, in particular, specifying or presetting said pose.
  • a selection rule can be used to assign a speed or acceleration safety monitoring function to a process parameter as a selectable subset, said process parameter being dependent on a speed or acceleration of the robot assembly, in particular, specifying or presetting said speed or acceleration.
  • a selection rule can be used to assign a force safety monitoring function to a process parameter as a selectable subset, said process parameter being dependent on a force, acting externally on the robot assembly; a driving force of the robot assembly; and/or a force, exerted by the robot assembly, in particular, specifying or presetting said force.
  • a process parameter may be selected advantageously as a subset, even on the basis, in particular, by selection, of the safety monitoring functions that are bijectively assigned to said process parameter.
  • a speed safety monitoring function as (at least) one safety monitoring function, which is not to be violated
  • a speed process parameter associated with said speed safety monitoring function
  • a force safety monitoring function as (at least) one safety monitoring function, which is not to be violated
  • a selection rule assigns to this or these process parameter(s), which is/are selected to be retained, in each case a subset of the prescribed set of process parameters as the selectable subset of process parameters to be adapted, where said subset to be selected does not contain these process parameters, which are to be retained, and is, in particular, is complementary thereto.
  • the prescribed set of process parameters consists of a force process parameter and a speed process parameter and if by means of the application a speed is selected as the one to be retained, then a selection rule of the control arrangement can select suitable force process parameters as a subset or the process parameters to be adapted and vice versa.
  • the selection can be fully automated or take place without asking for input by a user.
  • control arrangement is stored.
  • said control arrangement can be modified, in particular, parameterized, in particular, by the user and/or the application.
  • one or more selection rules can be, in particular, (re-) parameterized, (re-) prioritized, added or activated and/or removed or deactivated, in particular, by a user and/or an application that is carried out or is to be carried out.
  • the process parameter(s) of the subset is or are adapted, if required, or only if in the case of non-adapted process parameter(s) all of the parallel activated safety functions were violated. Consequently a speed of a robot, which is below a speed limit value that is monitored by an activated safety monitoring function, does not have to be adapted, in particular, reduced.
  • a safety monitoring function can be activated or deactivated, based on a user input; the application, in particular, a prescribed control command of the application, and/or a state, in particular, a pose, of the robot assembly.
  • a user input can be detected; and, based thereon, a safety monitoring function, determined by the input, can be activated or deactivated.
  • the application may include a default for safety monitoring functions that are activated or are to be activated.
  • individual safety monitoring functions can be activated or deactivated by means of the stored control commands of the application.
  • a safety monitoring function can be activated or deactivated, as soon as a robot of the robot assembly intrudes into a defined working space or exits a defined working space.
  • a (de)activation of a safety function monitoring may modify the prescribed set of process parameters, by means of which in one further development a violation of at least one of the activated safety monitoring functions is avoidable or is avoided or can be avoided; in particular, said deactivation can add process parameters to said prescribed set or remove process parameters from said set.
  • a safety response of the robot assembly is carried out, only if said safety response is not counteracted or opposed by any of these safety monitoring functions.
  • the safety response of the robot assembly, said safety response being linked to the parallel activated safety monitoring functions is not carried out, provided that or as long as (at least) one of these safety monitoring functions is not or will not be violated.
  • a safety response of the robot assembly, said safety response being linked to the parallel activated safety monitoring functions is carried out, only if said safety response is not counteracted or opposed by a non-violation of these safety monitoring functions.
  • the prescribed control arrangement comprises a hierarchized plurality of prioritized selection rules, which are, in particular, modifiable among themselves.
  • the subset of process parameters to be adapted is selected, based on a or the highest prioritized selection rule of the control arrangement. Consequently in one embodiment the control arrangement is hierarchized in such a way that one of the selection rules is or will always be prioritized unequivocally the highest.
  • one or more selection rules may be bijective (in each case) with the subset of process parameters to be adapted, said subset being determined by said one or more selection rules; or said one or more selection rules can always determine (in each case) the same subset of adaptable process parameters, in particular, may be identical to said subset.
  • a first selection rule may always determine a first subset of process parameters to be adapted; and a second selection rule may always determine a second subset of process parameters to be adapted.
  • one or more selection rules also determine (in each case), even as a function of a, in particular, the same or different, uni- or multi-dimensional additional condition(s), different subsets of process parameters to be adapted. For example, a selection rule determines a first subset of process parameters to be adapted, provided that the robot assembly is located in a first working space, and a second subset of process parameters to be adapted, provided that the robot assembly is located in a second working space.
  • one or more selection rule(s) of the control arrangement comprises or comprise (in each case) a hierarchized plurality of prioritized subsets of adaptable process parameters of the prescribed set of process parameters, said prioritized subsets being, in particular, modifiable among themselves.
  • that subset of the control arrangement is selected that on the basis of the, in particular, single or the highest prioritized, selection rule is or will be prioritized the highest.
  • one or more selection rules in particular, subsets of the process parameters to be adapted, are or will be prioritized on the basis of the application, in particular, higher or lower (re-) prioritized than their default or initial prioritization. This feature makes it possible to take advantageously into account, in particular, during the execution of the application, specifically different boundary conditions and/or to improve the operation and/or the safety of the robot assembly.
  • a selection rule in particular, a subset of process parameters to be adapted is or will be prioritized the highest, based on the application, as a global selection rule or a default selection rule or a default subset.
  • this global selection rule is or will be applied to the application or during the execution thereof; or this global subset of process parameters to be adapted is or will be selected, provided that or as long as subsequently no other selection rule or subset of process parameters to be adapted is or will be prioritized higher.
  • an application-specific global selection rule or default selection rule or default subset is prescribed.
  • one or more selection rules in particular, subsets of process parameters to be adapted might or may be (re-) prioritized, based on a prescribed control command of the application.
  • a (re-) prioritization of one or more selection rules or subsets may be derived, indirectly or indirectly, from a prescribed process command of the application.
  • a process command in) the application, which requires a force control, to infer that a desired force should be reached or maintained; and a speed process parameter may be selected through an appropriate prioritization of the selection rules or in a selection rule, in order to avoid a safety response by lowering (as required) the speed to the non-violation of a speed safety monitoring function, even though the force violates a parallel activated force safety monitoring function, in particular, (only) during the execution of the force control.
  • a process command which requires a position control, can be used to infer that that a contact free movement is anticipated, and a force process parameter may be selected accordingly by a suitable prioritization of the selection rules or in a selection rule, in order to avoid a safety response by, if necessary, lowering a force to the non-violation of a force safety monitoring function, although the speed violates a parallel activated speed safety monitoring function, in particular, (only) during the execution of the position control.
  • a selection rule may state that a force process parameter has to be selected, if a force control is present; and/or a speed process parameter has to be selected, if a position control is present.
  • one or more selection rules or subsets are or will be prioritized, directly or indirectly, based on a prescribed (selection rule or subset) prioritization command.
  • a (re-) prioritization can be explicitly commanded in this way in the application during (the execution) of the application.
  • the selectable subset of process parameters to be adapted can be specified directly in the application by means of a corresponding prioritization command.
  • a control command of the application may be, in particular, a prioritization command; and on the basis of said control command one or more selection rules, in particular, subsets of process parameters to be adapted will be or are (re-) prioritized.
  • Said prioritization command specifies or commands the (re-) prioritization itself or directly or explicitly, in particular, exclusively specifies or commands the (re-) prioritization.
  • a control command of the application may be, in particular, a process command; and on the basis of said control command one or more selection rules, in particular, subsets of process parameters to be adapted will be or are (re-) prioritized.
  • Said process command does not itself or not directly or not explicitly specify or command a (re-) prioritization.
  • a process command can be, in particular, a command, which specifies or commands, in particular, exclusively or also, a control or a modification of a control operating mode of the robot assembly and/or an activity, in particular, a motion, of the robot assembly.
  • one or more selection rules, in particular, sub-sets of the process parameters to be adapted might or may be (re-) prioritized, based on a state, in particular, a pose; a sensor value; or an I/O value, of the robot assembly.
  • a state in particular, a pose; a sensor value; or an I/O value, of the robot assembly.
  • one or more selection rules or subsets may be (re-) prioritized.
  • one or more of the steps of the method are carried out while the robot assembly is operating, in particular, while executing the application.
  • one or more of the steps, described herein are repeated multiple times, in particular, while operating the robot assembly, in particular, during the execution of the application.
  • a subset of the process parameters to be adapted is selected multiple times, based on the control arrangement; and the process parameter(s) of this subset is or are adapted in such a way that a violation of at least one of the safety monitoring functions is avoidable or is avoided or can be avoided, in particular, while operating the robot assembly, in particular, during the execution of the application.
  • system comprises the robot assembly and/or is configured to execute the application of the robot assembly.
  • a means within the context of the present invention may be designed in hardware and/or software, in particular, may comprise, in particular, a digital processor, in particular, a microprocessor unit (CPU), which is connected by data or signal preferably to a storage system and/or a bus system, and/or may comprise one or more programs or program modules.
  • the CPU may be configured to process commands, which are implemented as a program stored in a storage system; to detect input signals from a data bus and/or to emit output signals to a data bus.
  • a storage system may have one or more, in particular, various storage media, in particular, optical, magnetic, solid-state and/or other non-volatile media.
  • the program may be of such a nature that it embodies or is able to carry out the methods described herein, so that the CPU can execute the steps of such methods and, in so doing, can operate or monitor, in particular, the robot assembly.
  • FIG. 1 depicts a system according to an embodiment of the present invention.
  • FIG. 2 is a schematic illustration of a method according to an embodiment of the present invention.
  • FIG. 1 shows a system, according to an embodiment of the present invention, with a robot assembly, which consists of a robot 1 , and with a (sub)system in the form of a robot and safety controller 2 for controlling the robot assembly, in particular, for executing an application in the form of a control program 3 of the robot assembly (see FIG. 2 ), and for monitoring a plurality of parallel activated safety monitoring functions.
  • a robot assembly which consists of a robot 1
  • a (sub)system in the form of a robot and safety controller 2 for controlling the robot assembly, in particular, for executing an application in the form of a control program 3 of the robot assembly (see FIG. 2 ), and for monitoring a plurality of parallel activated safety monitoring functions.
  • the robot and safety controller 2 is designed for carrying out a method, which will be explained in more detail below with reference to FIG. 2 , in accordance with one embodiment of the present invention and has for this purpose corresponding means, in particular, in the form of computer program products and/or programs stored thereon or program modules.
  • a safety response for example, a STOP 0 of the robot 1 , which is triggered by the robot and safety controller 2 , only if both the first and the second safety monitoring functions are violated.
  • any speed can be achieved, because then the activated and non-violated first safety monitoring function ESM 1 counteracts a triggering of the safety response.
  • any force can be achieved, because then the activated and non-violated second safety monitoring function ESM 2 counteracts a triggering of the safety response.
  • a violation of the first safety monitoring function ESM 1 may be avoidable or avoided, in particular, by adapting a desired force F d ; and a violation of the second safety monitoring function ESM 2 may be avoidable or avoided, in particular, by adjusting a desired speed v d . Consequently in the exemplary embodiment a prescribed set ⁇ F d , v d ⁇ of process parameters, by means of which a violation of at least one of the safety monitoring functions is avoidable or is avoided or can be avoided, comprises the desired force F d and the desired speed v d .
  • These (desired) process parameters can correspond to, in particular, the actual process parameters, monitored by the first or second safety monitoring function ESM 1 , ESM 2 respectively, or can depend on the same variables that specify or preset said actual process parameters.
  • the safety response may also be avoided (if possible) by maintaining a sufficiently low force or a sufficiently low speed.
  • the application in the form of the control program 3 includes prioritization commands in the form of “setPriority (RuleX)” that prioritize a first or second selection rule Rule 1 or Rule 2 respectively of a prescribed control arrangement so as to be higher.
  • setPriority RuleX
  • the first selection rule Rule 1 determines the first process parameter F d of the prescribed set ⁇ F d , v d ⁇ of process parameters as the selectable subset of process parameters to be adapted; and the second selection rule Rule 2 determines the second process parameter v d of the prescribed set ⁇ F d , v d ⁇ of process parameters as the selectable subset of process parameters to be adapted.
  • the robot and safety controller 2 Based on a corresponding prioritization command “setPriority (Rule 1 )” at the beginning of the control program 3 , the robot and safety controller 2 prioritizes the first selection rule Rule 1 as a global or default selection rule when executing the application in a step S 10 and selects accordingly from the set of prescribed process parameters ⁇ F d , v d ⁇ , by means of which a violation of at least one of the safety monitoring functions is avoidable or is avoided or can be avoided, the first process parameter F d as a subset.
  • the robot and safety controller 2 Based on a subsequent prioritization command “setPriority (Rule 2 )”, the robot and safety controller 2 then prioritize the second selection rule Rule 2 so as to be the highest in a step S 30 , and, therefore, now selects from the set of prescribed process parameters ⁇ F d , v d ⁇ , by means of which a violation of at least one of the safety monitoring functions can be avoided (if possible), the second process parameter v d as a subset.
  • step S 40 is optionally adjusted downwards during the now ensuing process motion (see “v d ⁇ v d ”), in order not to violate the second safety monitoring function ESM 2 .
  • a triggering of the STOP 0 is advantageously avoided (if possible); and at the same time the desired high process force of 20 N is achieved.
  • the robot and safety controller 2 Based on a subsequent prioritization command “setPriority (Rule 1 )”, the robot and safety controller 2 then prioritize in a step S 50 again the first selection rule Rule 1 so as to be the highest and, therefore, now selects again the first process parameter F d as a subset. Consequently in a step S 60 after the process motion the force is optionally adjusted downwards again, in order not to violate the first safety monitoring function ESM 1 .
  • the robot and safety controller 2 can detect, based on an instructed position control for moving towards the process pose Pos2, that a contact free movement is planned and that the speed of the infeed motion is of primary interest. Then the robot and safety controller 2 can prioritize, based on the process command instructing the position control, for the infeed motion, the first selection rule Rule 1 so as to be the highest or can select the first process parameter F d . Conversely the robot and safety controller 2 can detect, based on an instructed force, in particular, an impedance control for carrying out the process motion, that the process force is of primary interest.
  • the robot and safety controller 2 can prioritize, based on the process command instructing the impedance control, for the process motion the second selection rule Rule 2 so as to be the highest or can select the second process parameter v d .
  • the prioritization command “setPriority(Rule 2 )” could also be omitted at the location of the step S 30 .
  • the robot and safety controller 2 may prioritize the first selection rule Rule 1 so as to be higher and, in so doing, select the first process parameter F d and, if necessary, adjust the force, when the robot 1 is located in a first working space; and vice versa, prioritize the second selection rule Rule 2 so as to be higher and, therefore, select the second process parameter v d and, if necessary, adjust the speed, when the robot 1 is located in a second working space.
  • each selection rule Rule 1 /Rule 2 is bijectively linked to a desired process parameter F d /v d , which is adapted, if required, in order to avoid a violation of a safety monitoring function, monitoring a corresponding actual process parameter.
  • a selection rule may also determine, based on an additional condition, different process parameters as the selectable subset of process parameters to be adapted.
  • a selection rule may determine the second process parameter v d as the subset, when a force is specified as the process parameter to be retained, and vice versa the first process parameter F d as a subset, when a speed is specified as a process parameter to be retained.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
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EP3347169B1 (de) 2024-03-20
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CN108025433A (zh) 2018-05-11

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